Apparatus, system and method to indicate in-vivo device location

ABSTRACT

A system, apparatus and method may indicate in-vivo device location within a body utilizing for example illumination irregularities for calculation of location. There may be provided with an in-vivo imaging device a set of dedicated illumination source and a set of detectors located on an in-vivo device, such as a swallowable capsule.

FIELD OF THE INVENTION

The present invention relates to in-vivo devices and systems, methods,and apparatuses that help locate in-vivo devices inside a body.

BACKGROUND OF THE INVENTION

Known devices may be helpful in providing in-vivo imaging, diagnosis,treatments etc. For example, autonomous in-vivo devices, such asswallowable capsules, may move through a body lumen, collecting data asthey move along. This data may be transmitted to an external receptiondevice, and processed by a processing unit, to help, for example,determine in-vivo parameters. It would be highly advantageous to have asystem or method to help indicate the location of an in-vivo device.

SUMMARY OF THE INVENTION

There is provided, in accordance with some embodiments of the presentinvention, an apparatus, system, and method for indicating in-vivodevice location within a body. According to one embodiment of theinvention there may be provided, in an in vivo device at least animager, a primary illumination source to provide illumination for theimager, a dedicated illumination source, a detector to collect light anda processor to, based on signals from the detector, determine a locationof the in-vivo device.

According to a further embodiment of the invention there is provided amethod for indicating in-vivo device location within a body. The methodaccording to one embodiment of the invention comprises the steps oftransmitting light, optionally from behind an optical window in anin-vivo sensing device, receiving reflected light by a detector anddetermining the location of the device.

BRIEF DESCRIPTION OF THE DRAWINGS

The principles and operation of the system, apparatus, and methodaccording to the present invention may be better understood withreference to the drawings, and the following description, it beingunderstood that these drawings are given for illustrative purposes onlyand are not meant to be limiting, wherein:

FIG. 1 is a schematic illustration of an in vivo device and imagingsystem according to one embodiment;

FIG. 2 is a schematic illustration of an in vivo device according tosome embodiments of the present invention; and

FIGS. 3A and 3B are flow charts illustrating methods for in-vivolocation indication according to some embodiments of the presentinvention.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn to scale.For example, the dimensions of some of the elements may be exaggeratedrelative to other elements for clarity. Further, where consideredappropriate, reference numerals may be repeated among the figures toindicate corresponding or analogous elements throughout the serialviews.

DETAILED DESCRIPTION OF THE INVENTION

The following description is presented to enable one of ordinary skillin the art to make and use the invention as provided in the context of aparticular application and its requirements. Various modifications tothe described embodiments will be apparent to those with skill in theart, and the general principles defined herein may be applied to otherembodiments. Therefore, the present invention is not intended to belimited to the particular embodiments shown and described, but is to beaccorded the widest scope consistent with the principles and novelfeatures herein disclosed. In the following detailed description,numerous specific details are set forth in order to provide a thoroughunderstanding of the present invention. However, it will be understoodby those skilled in the art that the present invention may be practicedwithout these specific details. In other instances, well-known methods,procedures, and components have not been described in detail so as notto obscure the present invention.

Some embodiments of the present invention are directed to a swallowablein-vivo device that may be used for recording in vivo data, for examplefrom the entire or part of the length of the gastrointestinal (GI)tract, and transmitting recorded data to a receiving and/or processingunit. Other embodiments need not be swallowable or autonomous, and mayhave other shapes or configurations. According to some embodiments thein vivo device may include an image sensor, however, other sensors maybe used. The system and method of the present invention may be used withor in an imaging system such as that described in InternationalPublication Number WO 01/65995, entitled “A Device and System forIn-Vivo Imaging”, international publication date Sep. 13, 2001,international filing date Mar. 8, 2001. A further example of an imagingsystem with which the system and method of the present invention may beused is described in U.S. Pat. No. 5,604,531 to Iddan et al., entitled“In-Vivo Video Camera System”, filed on Jan. 17, 1995. Both thesepublications are assigned to the common assignee of the presentapplication and are hereby incorporated by reference. Furthermore,receiving, storage, processing, and/or display systems suitable for usewith embodiments of the present invention may be similar to embodimentsdescribed in WO 01/65995 and/or in U.S. Pat. No. 5,604,531. Of course,devices, systems, structures, functionalities, and methods as describedherein may have other configurations, sets of components and processesetc.

Embodiments of the device are typically autonomous and are typicallyself-contained. For example, the device may be capsule shaped orotherwise shaped, e.g., in a peanut shape, where all the components aresubstantially contained within a container or shell, and where thedevice does not require any wires or cables to, for example, receivepower or transmit information. The device may communicate with anexternal receiving and display system to provide display of data,control, or other functions. For example, power may be provided by aninternal battery or a wireless receiving system. Other embodiments mayhave other configurations and capabilities. For example, components maybe distributed over multiple sites or units. Control information may bereceived from an external source.

Reference is now made to FIG. 1, which is a schematic illustration of anin-vivo imaging system 100, according to an embodiment of the invention.System 100 may include, for example, an in-vivo device 10, which may be,for example, a swallowable capsule. Device 10 may be an imaging device,and/or may include non-imaging capability.

According to one embodiment of the present invention, in-vivo device 10may include, for example, one or more detection units and/or detectors30, for example illumination detectors. According to some embodiments ofthe present invention, in-vivo device 10 may include a set of energyoutput units or sources such as one or more dedicated illuminationsources 43. System 100 may include a data reception unit 12 to receiveat least in-vivo device data, and a data processor 14 to process atleast in-vivo device data, System 100 may further include a displayingapparatus, such as a monitor 16, to display at least in-vivo devicedata. For example, data reception unit 12 may receive the data fromin-vivo device 10, and may thereafter transfer the data to a dataprocessor 14, and optionally a data storage unit 19. The data may bedisplayed on monitor 16. Data reception unit 12 may be separate from theprocessing unit 14 or combined with it. Data processor 14 may be, forexample, associated with a personal computer or workstation, and mayinclude, for example, a processor memory etc. Data processor 14 may beconfigured for real time processing and/or for post processing to beviewed or otherwise displayed at a later date. Units 14, 16 and 19 maybe integrated into a single unit, for example a workstation 13, or anycombinations of the various units may be implemented. Of course, othersuitable components may be used.

Device 10 as depicted in FIG. 1 may be capsule shaped, and may be easilyinserted (e.g., by swallowing) and passively passed through the entireGI tract, pushed along, for example, by natural peristalsis.Nonetheless, it should be appreciated that device 10 may be of any shapeand size suitable for being inserted into and passing through a bodylumen or cavity, such as spherical, oval, cylindrical, etc. or othersuitable shapes. Furthermore, device 10 or various embodiments that mayinclude at least some components of device 10 may be attached or affixedon to an instrument that is inserted into body lumens and cavities, suchas, for example, on an endoscope, laparoscope, stent, needle, catheteretc.

Reference is now made to FIG. 2, which is a schematic illustration of anin-vivo device, e.g., a swallowable capsule, according to an embodimentof the present invention, which may be adapted to indicate in-vivodevice location within a body. According to one embodiment of thepresent invention, device 10 may include at least one illuminationsource, for example one or more primary illumination source(s) 23 suchas, a white Light Emitting Diode (LED) and/or an Organic LED (OLED) orany other suitable illumination source for illuminating a body lumen; animager 24, such as, for example a CMOS imaging camera, a Charge CoupledDevice (CCD), or any other suitable imaging device; and an opticalsystem 22 including, for example, a lens, which may focus images ontoimager 24. According to some embodiments of the present invention,primary illumination source 23 may provide illumination for the imager24 and/or may illuminate the inner portions of a body lumen through atleast one optical dome or window 21. Device 10 may include a transmitter26 and an antenna 27 for transmitting signals and/or data received fromat least imager 24, and a power source 25, such as, for example, abattery (e.g., a silver oxide battery, etc.) or any other suitable powersource that may provide power to the electrical elements of device 10.

According to one embodiment of the present invention, device 10 mayinclude a processor and/or controller 28, for example, an ASIC(Application Specific Integrated Circuit) controller, optionally locatedwithin transmitter 26, or within any other component of device 10, toenable processing of recorded data and/or to control device 10.Optionally, in one embodiment, transmitter 26 may include a processingunit or processor or controller, for example, to process signals and/ordata generated by imager 24 and or detector 30. The optional processingunit may include, for example, a Central Processing Unit (CPU), aDigital Signal Processor (DSP), a microprocessor, a controller, a chip,a microchip, a controller, circuitry, an Integrated Circuit (IC), anASIC, or any other suitable multi-purpose or specific processor,controller, circuitry or circuit. Device 10 may include a processingunit separate from transmitter 26 that may, for example, contain orprocess instructions. Transmitter 26 may operate using radio waves, butin some embodiments, such as those where the device 10 is or is includedwithin, for example, an endoscope, transmitter 26 may transmit via, forexample, a wire-based channel or another suitable method. In-vivo device10 may include an imaging system for obtaining images from inside a bodylumen, such as the GI tract, or may have no such imaging system. Otherstructures, components, and/or combinations of components may be used.

According to some embodiments of the present invention, device 10 mayinclude one or more detectors 30, for example illumination or lightlevel detectors. Detectors 30 may be dedicated to non-imaging tasks,such as detecting light levels rather than collecting images. Accordingto one embodiment of the present invention the detectors 30 may beplaced, for example, at a location(s) on, embedded in, or towards theouter shell of device 10, or at any other location of device 10, suchthat a portion of illumination generated by primary light source(s) 23or other light source(s) and reflected or remitted from in-vivo objectsor lumen walls etc. to detector 30 may not be received through opticaldome or window 21, for example, the device's optical window e.g. thedevice's primary optical window, and thus not fall on imager 24. Forexample, according to one embodiment of the present invention, when thesides of device 10, in the vicinity of detector 30, are close to ortouching the cavity or lumen walls (e.g., device 10 is passing through arelatively small, typically tube-like cavity), light emitted by primaryillumination sources 23 may not substantially illuminate lumen walls orin-vivo objects in the area from which light may be reflected todetector 30. When the sides of device 10, in the region of detector 30,are not substantially close to the cavity or lumen walls (e.g., device10 is passing through a relatively large cavity), light emitted by theprimary illumination sources 23 may illuminate lumen walls or in-vivoobjects in the area from which light may be reflected to detector 30. Inthis way detector 30 may detect light from the primary illuminationsources 23 when device 10 is traversing a relatively large lumen, andmay not detect substantial light from the primary illumination source 23when device 10 is traversing a relatively small lumen. Thus detector 30is preferably not adjacent to illumination sources.

According to one embodiment of the present invention, device 10 mayinclude one or more dedicated illumination source(s) 43, which may beplaced, for example, at one or more locations towards the outer shell ofdevice 10. According to some embodiments of the present invention, thededicated illumination sources 43 may be placed on the sides or at anyother location of device 10, such that light generated by illuminationsource 43 and reflected from in-vivo objects or lumen walls etc. todetector 30 is not substantial when device 10 is passing through, forexample, a narrow cavity. In one embodiment, while primary illuminationsource(s) 23 are behind the optical window or dome 21, along with imager24, dedicated illumination source(s) 43 and detector(s) 30 are notbehind the optical window or dome 21. Thus imager 24 collects imagesusing light from illumination source 23, and the level of light incidenton detector 30 varies based on whether detector 30 and/or dedicatedillumination source 43 is covered by, e.g., a lumen wall.

Other types of energy output units or sources, other than the dedicatedillumination sources 43, may be used. For example, one or more energysources outputting, for example, acoustic energy or electric energy maybe used; if so, corresponding appropriate energy receiving units (e.g.,electrodes, acoustic detectors, etc.) may be used. While in oneembodiment the energy producing units and energy receiving units arepaired (e.g., dedicated illumination source 43 is paired with detector30), in other embodiments, such pairings need not be used. For example,one energy unit such as a dedicated illumination source may provideillumination, and a set of detectors placed an appropriate distanceapart may receive reflection data.

In an alternate embodiment other light sources, separate from a primarylight source (e.g., light sources 23), may operate via optical dome orwindow 21, but may be configured to not be primary illumination sources.One or more detector(s), for example, imager 24, may be located in anysuitable location in device 10 so as to receive illumination data fromdedicated illumination sources 43 after being reflected off an in-vivoobject or lumen wall etc. (and possibly passing through window 21).According to one embodiment of the present invention, imager 24, may beused for other imaging functions for device 10, or may be wholly orpartially dedicated to detection of illumination generated by dedicatedillumination source(s) 43. For example, imager 24 may include a certainnumber of pixels in, for example, an unused or little used portion of animager. Alternately, according to some embodiments of the presentinvention imager 24 may be placed closer to the dedicated illuminationsources 43, or to a path of light from the dedicated illuminationsource(s) 43.

In some embodiments device 10 may have one or more optical windows 21,with associated imaging or other suitable components. According to oneembodiment of the present invention, detector 30 may enabledetermination of ambient light in a lumen, resulting, for example, fromthe reflection of light from the primary light sources 23 off a lumenwall. According to some embodiments of the present invention, detector30 may be, for example, a CMOS camera, a CCD, a photodiode, or any othersuitable light detector or imaging device. Detector 30 may be similar toimager 24, and in some embodiments detector 30 may replace imager 24. Infurther embodiments, an imager such as imager 24, may both providein-vivo images and perform the functions of detector 30. In someembodiments, detector 30 may be a simple light level meter (e.g., aphotodiode), not recording images.

According to some embodiments of the present invention, when device 10travels in-vivo through a relatively small diameter lumen, for example,such that the lumen walls are in close vicinity to the shell 20, whichenvelopes in-vivo device 10, and in close vicinity to detector 30,detector 30 may receive minimal or negligible reflected light or otherelectromagnetic information from illumination sources such as theprimary illumination source(s) 23 and/or the dedicated illuminationsource(s) 43. When device 10 travels through or into a relatively largediameter lumen (e.g., the stomach relative to the esophagus, the largeintestine relative to the small intestine), or passes into or out of arelatively large space (e.g., into or out of the body itself) forexample, such that a lumen wall is not necessarily in close vicinity toshell 20, light from primary illumination source(s) 23 and/or thededicated illumination source(s) 43 that reflects off the lumen walls(e.g., ambient light) may be wholly or partially received by detector30.

According to some embodiments of the present invention, the movement ofdevice 10 from a large space to a relatively small space may affect theamount of electromagnetic energy recorded by detector 30. Thus, afternot having received reflected light at detector 30 (or receiving acertain amount of light, or light below a threshold), when detector 30receives light (or receives a different amount of light, or light abovea predetermined threshold), for example, data from detector 30 maytrigger transmission of a signal to indicate that device 10 is locatedwithin a substantially larger diameter lumen. Additionally oralternatively, according to some embodiments of the present invention,data from detector 30 may trigger (for example via a separate controlleror processor) transmission of a signal to indicate that device 10 islocated within a substantially smaller diameter lumen when, for example,detector 30 stops receiving light or starts receiving substantially lesslight.

In other embodiments, after detecting a status change in light receivedby detector 30, for example, after receiving substantially more light todetector 30, and/or receiving less or no light to detector 30, acontroller (e.g., controller 28, transmitter 26 if it includes controlor processing capability, or another suitable unit) may receive andprocess the data from detector 30, and may trigger one or more events tooccur within device 10, by one or more components of device 10.According to some embodiments of the present invention, controller 28may be the main processor/controller of in-vivo device 10 or it may bededicated to detector 30 or to any other sub-systems. According to oneembodiment of the present invention, another processing unit, such astransmitter 26, may be associated with detector 30. For example,controller 28 or another processing device may initiate sending of asignal and/or execution of an event in response to a status change inthe light received by detector 30. In other embodiments, an imager suchas imager 24 may collect light level data. According to one embodimentof the present invention, the imager 24 may indicate movement of device10 from one area to another, for example from a relatively smalldiameter lumen into a larger diameter lumen affects by, for examplemeasuring the amount of light received by imager, and/or illuminationchanges.

According to some embodiments of the present invention, detector 30 mayenable provision of an indication as to an in-vivo device location in abody, for example based on different measurement as described above. Forexample, detector 30 or information received from detector 30, such aslight level information, may indicate when device 10 has passed out ofthe small intestine (e.g., where the walls may be in close vicinity todevice 10) and has moved into the large intestine, which has a largerdiameter. Similarly, information from detector 30 may, for example,provide an indication as to when device 10, for example, has passed outof the stomach and moved on to the small intestine, or has left theesophagus and moved into the stomach etc.

Examples of events that may be triggered following an indication bydevice 10 of a location change of device 10 may include, for example,commanding device 10 to transmit images after device 10 provides anindication that it has reached the colon; instructing device 10 todeliver medication or take samples etc. at one or more selected timesand/or locations; instructing device 10 to start or finish events due tothe indication given; instructing device 10 to change operation mode,etc. Other examples may include, for example, changing the focus ofimager 24, changing the lighting from light sources 23 and/or 43,releasing a chemical, starting data transmission, shutting down orpausing imaging or other function, and initiating or ceasing in-vivosensing by one or more sensing devices (e.g., pH sensor, temperaturesensor, etc.). Other suitable mode changes or operations may take place.For example, device 10 may be controlled according to the locationindication, thereby enabling energy saving for device 10, for example,by initiating events or ceasing events according to the progress ofdevice 10 through the GI tract. Other events or operations may betriggered.

According to some embodiments of the present invention, detector 30 maytransmit signals relating to light detection to controller 28, forexample, ASIC controller, or any suitable data processing unit.Controller 28 may receive these signals and determine from the receivedsignals, for example, by comparing the signals with prior receivedsignals, whether or not there has been a status change in the lightreceived by detector 30, for example, according to a pre-determinedthreshold. In the case where a status change in light received bydetector 30 has been determined (e.g., substantially more light isreceived, or substantially less light is received), controller 28 maytrigger a signal indicating, for example, a location change of device10. The signal may be sent to any device 10 components, or may betransmitted to one or more receiving units outside device 10, by, forexample, transmitter 26. According to one embodiment of the presentinvention, controller 28 may additionally or alternatively trigger anevent, for example, in device 10, or in an external device such as, forexample, data processor 14. According to one embodiment of the presentinvention, light status change may be determined according to thechanges in quantity and/or quality of light received to detector 30. Inan alternate embodiment data such as raw data or filtered data fromdetector 30 or another suitable light detection component (e.g., animager) may be transmitted to an external device (e.g., data processor14), where a status change such as movement between different sizedlumens may be determined. Such data may be transmitted, for example, viatransmitter 26.

Reference is now made to FIG. 3A, which is a flow chart depicting amethod for indicating in-vivo device location within a body, accordingto some embodiments of the present invention. At block 300, a lumen maybe illuminated for example by transmitting light from behind an opticalwindow in an in-vivo sensing device, for example from a primary lightsource 23. At block 305, light reflected to one or more detectors, forexample positioned so as not to detect light through the device's mainoptical window, may be detected. At block 310, signals received fromreflected light may be processed. At block 312 it may be determinedwhether there has been a change or substantial change in the qualityand/or quantity of light received by the detector. At block 315 if thereis no substantial change in the quality and/or quantity of lightreceived, as determined according to a pre-determined threshold, thein-vivo device may continue functioning as before. At block 320, ifthere is a change in the quality and/or quantity of light received, forexample as determined according to a predetermined threshold, thein-vivo device may send a signal to a reception unit, processing unit,and/or a user/operator etc. At block 325, if there is a change in thequantity and/or quality of light received, for example, as determinedaccording to a pre-determined threshold, a user or operator of thein-vivo device may initiate and/or terminate one or more events.Additionally or alternatively, at block 330, if there is a change in thequantity and/or quality of light received, for example, as determinedaccording to a pre-determined threshold, a user or operator of thein-vivo device may change a mode of operation. The initiating orterminating of events, and/or changing of operation mode etc., of thein-vivo device may be implemented by a user or operator of the device,or by the device processor or alternative controller. Any combination ofthe above steps may be implemented. Further, other steps or series ofsteps may be used. For example, the steps of determining if a lightpattern or level has changed to determine a position change may beperformed by a processor external to the body based on signalstransmitted from the in-vivo device.

According to another embodiment of the present invention, at block 312it may be determined if the light being detected is above or below apredetermined threshold. According to this determination the device orcomponents of the device may be made to continue operation (block 315)or to send a signal (block 320) or to initiate or terminate an event(block 325) or change a mode of operation (block 330) or any othersuitable operation according to embodiments of the invention. Thein-vivo device, for example, without the interaction of a user oroperator, may implement these operations or other suitable operations.For example, an imaging device, such as described above, may beingested, swallowed, or otherwise inserted by a patient. Uponswallowing, while the device is in the patient's esophagus andrelatively little light (e.g., under a predetermined threshold) reachesthe devices detector the imager of the device may be imaging at a highframe rate. When the imaging device reaches the patient's stomach arelatively large amount of light may be detected by a detector in thedevice and as a result the frame rate may be lowered. Various other modechanges may occur. When the device enters the small intestine from thestomach the amount of light detected by the detector may again be belowa predetermined threshold and as a result the main illumination of thedevice may be intensified. Other steps and operations are possible.

Reference is now made to FIG. 3B, which is a flow chart depicting amethod for indicating in-vivo device location within a body, accordingto some embodiments of the present invention. Embodiments of the methodmay be, for example implemented using at least one illumination sourcepositioned on the sides of device 10 or at any other location of device10, such that light discharged for example through the dedicatedillumination source(s) 43 which illuminates objects (for example, lumenwalls), may not be reflected off the object or lumen wall and may not bedetected by, for example imager 24, when device 10 is traversing a smalldiameter lumen. However, the method may be implemented using otherin-vivo devices having other suitable structures.

At block 350, a lumen may be illuminated for example by transmittinglight from one or more illumination sources such as the dedicatedillumination source(s) 43 which, for example may be positioned at thesides of an in-vivo device or otherwise suitably positioned. At block355, the light reflected off the in-vivo objects or lumen walls etc. toone or more light detectors, for example imager 24, may be detected. Atblock 360, signals received from reflected light may be processed, forexample, by processor 28 or other suitable processing units. At block365, if there is no substantial change in the quality and/or quantity oflight received, as determined according to a pre-determined threshold,the in-vivo device and/or an external processing or receiving system maycontinue functioning as before. At block 370, if there is a change inthe quality and/or quantity of light received, for example as determinedaccording to a pre-determined threshold, a user or operator of thein-viva device may send a signal to a reception unit, processing unit,and/or a user/operator etc. In the case where a user and/or operatorreceive a signal or data, the user and/or operator may provide aninstruction to initiate or terminate an event in the in-vivo device orin other system components.

At block 375, if there is a change in the quality and/or quantity oflight received, for example, as determined according to a pre-determinedthreshold, a user or operator of the in-viva device may initiate and/orterminate one or more events. Additionally or alternatively, at block380, if there is a change in the quality and/or quantity of lightreceived, for example, as determined according to a pre-determinedthreshold, a user or operator of the in-viva device may change a mode ofoperation of the device and/or an external system. The initiating orterminating of events, and/or changing of operation mode etc. of thein-vivo device may be implemented by a user or operator of the device,or by the device processor or alternative controller. Any combination ofthe above steps may be implemented. Further, other steps or series ofsteps may be used. For example, the steps of determining if a lightpattern or level has changed to determine a position change may beperformed by a processor external to the body based on signalstransmitted from the in-vivo device.

According to another embodiment at block 362 it may be determined if thelight being detected is above or below a predetermined threshold.According to this determination the device may be made to continueoperation (block 365) or to send a signal (block 370) or to initiate orterminate an event (blocks 375 and 380 respectively) or any otheroperation according to embodiments of the invention. The in-vivo device,for example, without the interaction of a user or operator, mayimplement these operations or other suitable operations.

According to some embodiments of the present invention, the in-vivomotion detection may be implemented using at least one detector 30 andat least one dedicated illumination source 43; both being positionedsubstantially separately from the primary illumination source(s) 23 andthe imager of the in-vivo device 10. For example, the detector(s) 30 maybe placed so as to detect light that is substantially reflected from anin-viva object or lumen wall etc., the light having emanated from thededicated illumination source 43. For example, the dedicatedillumination unit(s) 43 may be placed so as to generate light thatsubstantially illuminates an in-vivo object or lumen wall etc. not usingoptical window 21 (e.g., detector may be located on one or more sides ofin-vivo device 10). In this way, for example, in a small diameter lumen,the detector may not receive light or may only receive light under acertain threshold, while in a large lumen, the detector may receivelight above a certain threshold.

According to some embodiments motility of the GI tract may be determinedby measuring received light, according to embodiments of the invention.Typically, contractions of the lumen wall around the device may resultin a reduced amount of light remitted from the lumen wall or otherwisechanged quantity or quality of remitted light. According to someembodiments fluctuations in received light may indicate the motilitypattern of the lumen being examined.

The foregoing description of the embodiments of the invention has beenpresented for the purposes of illustration and description. It is notintended to be exhaustive or to limit the invention to the precise formdisclosed. It should be appreciated by persons skilled in the art thatmany modifications, variations, substitutions, changes, and equivalentsare possible in light of the above teaching. It is, therefore, to beunderstood that the appended claims are intended to cover all suchmodifications and changes as fall within the true spirit of theinvention.

1. An in-vivo system comprising: an autonomous in vivo device, thedevice comprising: a primary light source, to illuminate a body lumenfor imaging, positioned behind an optical window; an imager, positionedbehind the optical window; a dedicated light source, not positionedbehind the optical window, to illuminate the body lumen for locating thein vivo device; and a detector to collect reflected light; and aprocessor to, based on signals from the detector, determine a locationof the in-vivo device.
 2. The system according to claim 1, wherein thedetector is configured to receive light from a body lumen wall.
 3. Thesystem according to claim 1, wherein the processor is configured toindicate a movement of the in-vivo device from one area to another. 4.The system according to claim 1, wherein the imager comprises thedetector.
 5. The system of claim 4, wherein the lumen walls are closerto the outer shell when the device is in one of the first lumen and thesecond lumen.
 6. The system according to claim 4, wherein the indicationof movement is based on the detector detecting less light in the lumenwhere the lumen walls are closer to the outer shell.
 7. The systemaccording to claim 1, wherein the detector is not positioned behind theoptical window.
 8. The system according to claim 4, wherein the firstdiameter is a relatively small diameter and the second diameter is arelatively large diameter.
 9. The system according to claim 4,comprising a controller to receive signals from the detector and totrigger an event to occur within the in-vivo device.
 10. A method foroperating an in-vivo system, the method comprising: in an autonomous invivo device: via a primary light source positioned behind an opticalwindow, illuminating a body lumen for imaging; capturing images via animager positioned behind the optical window; illuminating the body lumenfor locating the in vivo device using a dedicated light source, notpositioned behind the optical window; and collecting reflected lightusing a detector; and based on signals from the detector, determining alocation of the in-vivo device.
 11. The method of claim 10, wherein thedetector is configured to receive light from a body lumen wall.
 12. Themethod of claim 10, comprising indicating a movement of the in-vivodevice from one area to another.
 13. The method of claim 10, comprisingindicating a movement from a first lumen having a first diameter to asecond lumen having a second diameter.
 14. The method of claim 13,wherein the lumen walls are closer to the outer shell when the device isin one of the first lumen and the second lumen.
 15. The method of claim13, wherein the indication of movement is based on the detectordetecting less light in the lumen where the lumen walls are closer tothe outer shell.
 16. The method of claim 10, wherein the detector isselected from the group consisting of: a CMOS, a CCD and a photodiode.17. The method of claim 10, wherein the imager comprises the detector.18. The method of claim 13, comprising triggering an event to occurwithin the in-vivo device based on signals from the detector.
 19. Anin-vivo system comprising: an autonomous in vivo device, the devicecomprising: a primary light source, to illuminate a body lumen forimaging, positioned behind an optical window; a dedicated light source,not positioned behind the optical window, to illuminate the body lumenfor locating the in vivo device; and a detector, not positioned behindthe optical window, to collect reflected light; and a processor to,based on signals from the detector, determine a location of the in-vivodevice.
 20. The system according to claim 19, wherein the processor isconfigured to indicate a movement from a first lumen having a firstdiameter to a second lumen having a second diameter.